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motion/00021_random_punches_idle_boxing_careful_turnl180_elbow_crawl_backward/annotation.json

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+{
+  "schema_version": "1.0",
+  "recipe_name": "random_punches_idle_boxing_careful_turnl180_elbow_crawl_backward",
+  "total_duration_sec": 24.17,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 4.5,
+      "frame_start": 0,
+      "frame_end": 225,
+      "mode": "random_punches",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 4.5,
+      "speed": -1.0
+    },
+    {
+      "idx": 1,
+      "t_start": 4.5,
+      "t_end": 13.87,
+      "frame_start": 225,
+      "frame_end": 694,
+      "mode": "idle_boxing",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 9.37,
+      "speed": -1.0
+    },
+    {
+      "idx": 2,
+      "t_start": 13.87,
+      "t_end": 21.27,
+      "frame_start": 694,
+      "frame_end": 1064,
+      "mode": "careful",
+      "movement": "forward",
+      "turn_deg": 180.0,
+      "turn_dir": "left",
+      "duration_sec": 7.4,
+      "speed": -1.0
+    },
+    {
+      "idx": 3,
+      "t_start": 21.27,
+      "t_end": 24.17,
+      "frame_start": 1064,
+      "frame_end": 1208,
+      "mode": "elbow_crawl",
+      "movement": "backward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 2.9,
+      "speed": 0.803
+    }
+  ],
+  "full_trajectory": [
+    "The robot throws random punches forward for 4.5 seconds, then shadow boxes forward for 9.4 seconds, then turns left 180 degrees while walking carefully for 7.4 seconds, and finally army crawls backward for 2.9 seconds.",
+    "The person throws random punches forward for 4.5 seconds, then shadow boxes forward for 9.4 seconds, then turns left 180 degrees while walking carefully for 7.4 seconds, and finally army crawls backward for 2.9 seconds.",
+    "Throws random punches forward for 4.5 seconds, then shadow boxes forward for 9.4 seconds, then turns left 180 degrees while walking carefully for 7.4 seconds, and finally army crawls backward for 2.9 seconds.",
+    "The robot throws random punches forward, then shadow boxes forward, then turns left 180 degrees while walking carefully, and finally army crawls backward.",
+    "The person throws random punches forward, then shadow boxes forward, then turns left 180 degrees while walking carefully, and finally army crawls backward.",
+    "Throws random punches forward, then shadow boxes forward, then turns left 180 degrees while walking carefully, and finally army crawls backward.",
+    "Throw punches ahead for 4.5 seconds, then Shadow box ahead for 9.4 seconds, then Turn left 180 degrees while treading carefully over 7.4s, then Army crawl back for 2.9 seconds.",
+    "Throw punches ahead in a rapid flurry for about 4.5 seconds, followed by Shadow box ahead in stance for about 9.4 seconds, followed by Pivot left (a half left turn (~180\u00b0)) while treading carefully over 7.4s, followed by Crawl on elbows back flat to the ground for about 2.9 seconds.",
+    "The robot punches rapidly forward in a rapid flurry for 4.5 seconds, after which The robot holds a boxing stance forward in stance for 9.4 seconds, after which The robot pivots left (a half left turn (~180\u00b0)) while moving with caution for 7.4s, after which The robot elbow-crawls backward flat to the ground for 2.9 seconds.",
+    "random punches forward 4.5s; idle boxing forward 9.4s; careful + turn left 180\u00b0 7.4s; elbow crawl backward 2.9s",
+    "Unleash a flurry of punches ahead, and then Box in place ahead, and then Swing left 180 degrees while treading carefully, and then Army crawl back.",
+    "Unleash a flurry of punches ahead lightly, afterwards Box in place ahead with guard up, afterwards Veer left (a half left turn (~180\u00b0)) while treading carefully, afterwards Crawl on elbows back flat to the ground.",
+    "The robot throws punches forward lightly, before The robot shadow boxes forward with guard up, before The robot pivots left (a half left turn (~180\u00b0)) while moving with caution, before The robot elbow-crawls backward flat to the ground.",
+    "random punches forward; idle boxing forward; careful + turn left 180\u00b0; elbow crawl backward",
+    "Throw punches straight in a rapid flurry for about 4.5 seconds, next The robot holds a boxing stance ahead in stance for 9.4 seconds, next careful + turn left 180\u00b0 7.4s, next Elbow-crawl in reverse.",
+    "The robot punches rapidly straight in a rapid flurry for 4.5 seconds, and then idle boxing forward 9.4s, and then Veer left 180 degrees while steping deliberately, and then Elbow-crawl rearward flat to the ground.",
+    "random punches forward 4.5s, afterwards Box in place forward, afterwards Swing left (a half left turn (~180\u00b0)) while walking carefully, afterwards The robot army crawls rearward flat to the ground."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Throw punches ahead for 4.5 seconds.",
+        "Punch rapidly forward with intensity for about 4.5 seconds.",
+        "The robot throws punches straight lightly for 4.5 seconds.",
+        "random punches forward 4.5s",
+        "Throw punches ahead.",
+        "Punch rapidly forward with intensity.",
+        "The robot throws punches straight lightly.",
+        "random punches forward"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Box in place straight for 9.4 seconds.",
+        "Shadow box ahead in stance for about 9.4 seconds.",
+        "The robot boxes in place in the forward direction defensively for 9.4 seconds.",
+        "idle boxing forward 9.4s",
+        "Box in place straight.",
+        "Shadow box ahead in stance.",
+        "The robot boxes in place in the forward direction defensively.",
+        "idle boxing forward"
+      ]
+    },
+    {
+      "segment_idx": 2,
+      "annotations": [
+        "Veer left 180 degrees while steping deliberately over 7.4s.",
+        "Swing left (a half left turn (~180\u00b0)) while moving with caution over 7.4s.",
+        "The robot pivots left (a half left turn (~180\u00b0)) while moving with caution for 7.4s.",
+        "careful + turn left 180\u00b0 7.4s",
+        "Veer left 180 degrees while steping deliberately.",
+        "Swing left (a half left turn (~180\u00b0)) while moving with caution.",
+        "The robot pivots left (a half left turn (~180\u00b0)) while moving with caution.",
+        "careful + turn left 180\u00b0"
+      ]
+    },
+    {
+      "segment_idx": 3,
+      "annotations": [
+        "Crawl on elbows backward for 2.9 seconds.",
+        "Elbow-crawl rearward flat to the ground for about 2.9 seconds.",
+        "The robot low crawls back flat to the ground for 2.9 seconds.",
+        "elbow crawl backward 2.9s",
+        "Crawl on elbows backward.",
+        "Elbow-crawl rearward flat to the ground.",
+        "The robot low crawls back flat to the ground.",
+        "elbow crawl backward"
+      ]
+    }
+  ]
+}

motion/00145_kneel_one_idle_boxing_happy_turnr45/annotation.json

@@ -0,0 +1,108 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "kneel_one_idle_boxing_happy_turnr45",
+  "total_duration_sec": 24.22,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 7.74,
+      "frame_start": 0,
+      "frame_end": 387,
+      "mode": "kneel_one",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 7.74,
+      "speed": -1.0
+    },
+    {
+      "idx": 1,
+      "t_start": 7.74,
+      "t_end": 17.44,
+      "frame_start": 387,
+      "frame_end": 872,
+      "mode": "idle_boxing",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 9.7,
+      "speed": -1.0
+    },
+    {
+      "idx": 2,
+      "t_start": 17.44,
+      "t_end": 24.22,
+      "frame_start": 872,
+      "frame_end": 1211,
+      "mode": "happy",
+      "movement": "forward",
+      "turn_deg": 45.0,
+      "turn_dir": "right",
+      "duration_sec": 6.78,
+      "speed": -1.0
+    }
+  ],
+  "full_trajectory": [
+    "The robot kneels on one knee forward for 7.7 seconds, then shadow boxes forward for 9.7 seconds, and finally turns right 45 degrees while walking happily for 6.8 seconds.",
+    "The person kneels on one knee forward for 7.7 seconds, then shadow boxes forward for 9.7 seconds, and finally turns right 45 degrees while walking happily for 6.8 seconds.",
+    "Kneels on one knee forward for 7.7 seconds, then shadow boxes forward for 9.7 seconds, and finally turns right 45 degrees while walking happily for 6.8 seconds.",
+    "The robot kneels on one knee forward, then shadow boxes forward, and finally turns right 45 degrees while walking happily.",
+    "The person kneels on one knee forward, then shadow boxes forward, and finally turns right 45 degrees while walking happily.",
+    "Kneels on one knee forward, then shadow boxes forward, and finally turns right 45 degrees while walking happily.",
+    "Kneel on one knee ahead for 7.7 seconds, then Shadow box ahead for 9.7 seconds, then Turn right 45 degrees while struting over 6.8s.",
+    "Kneel on one knee ahead on one knee for about 7.7 seconds, followed by Shadow box ahead in stance for about 9.7 seconds, followed by Pivot right (a partial right turn (~45\u00b0)) while struting over 6.8s.",
+    "The robot single-knee crawls forward on one knee for 7.7 seconds, after which The robot holds a boxing stance forward in stance for 9.7 seconds, after which The robot pivots right (a partial right turn (~45\u00b0)) while moving cheerfully for 6.8s.",
+    "kneel one forward 7.7s; idle boxing forward 9.7s; happy + turn right 45\u00b0 6.8s",
+    "Move on one knee ahead, and then Box in place ahead, and then Swing right 45 degrees while struting.",
+    "Move on one knee ahead on one knee, afterwards Box in place ahead with guard up, afterwards Veer right (a partial right turn (~45\u00b0)) while struting.",
+    "The robot kneels on one knee forward on one knee, before The robot shadow boxes forward with guard up, before The robot pivots right (a partial right turn (~45\u00b0)) while moving cheerfully.",
+    "kneel one forward; idle boxing forward; happy + turn right 45\u00b0",
+    "Kneel on one knee straight in a half-kneel for about 7.7 seconds, next The robot holds a boxing stance ahead in stance for 9.7 seconds, next happy + turn right 45\u00b0 6.8s.",
+    "The robot single-knee crawls straight on one knee for 7.7 seconds, and then idle boxing forward 9.7s, and then Veer right 45 degrees while bouncing along.",
+    "kneel one forward 7.7s, afterwards Box in place forward, afterwards Swing right (a partial right turn (~45\u00b0)) while walking happily."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Kneel on one knee ahead for 7.7 seconds.",
+        "Single-knee crawl forward in a half-kneel for about 7.7 seconds.",
+        "The robot kneels on one knee straight on one knee for 7.7 seconds.",
+        "kneel one forward 7.7s",
+        "Kneel on one knee ahead.",
+        "Single-knee crawl forward in a half-kneel.",
+        "The robot kneels on one knee straight on one knee.",
+        "kneel one forward"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Box in place straight for 9.7 seconds.",
+        "Shadow box ahead in stance for about 9.7 seconds.",
+        "The robot boxes in place in the forward direction defensively for 9.7 seconds.",
+        "idle boxing forward 9.7s",
+        "Box in place straight.",
+        "Shadow box ahead in stance.",
+        "The robot boxes in place in the forward direction defensively.",
+        "idle boxing forward"
+      ]
+    },
+    {
+      "segment_idx": 2,
+      "annotations": [
+        "Veer right 45 degrees while bouncing along over 6.8s.",
+        "Swing right (a partial right turn (~45\u00b0)) while moving cheerfully over 6.8s.",
+        "The robot pivots right (a partial right turn (~45\u00b0)) while moving cheerfully for 6.8s.",
+        "happy + turn right 45\u00b0 6.8s",
+        "Veer right 45 degrees while bouncing along.",
+        "Swing right (a partial right turn (~45\u00b0)) while moving cheerfully.",
+        "The robot pivots right (a partial right turn (~45\u00b0)) while moving cheerfully.",
+        "happy + turn right 45\u00b0"
+      ]
+    }
+  ]
+}

motion/00149_crouch_backward_zombie_turnr30_left_jab_left_hook/annotation.json

@@ -0,0 +1,134 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "crouch_backward_zombie_turnr30_left_jab_left_hook",
+  "total_duration_sec": 24.85,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 5.93,
+      "frame_start": 0,
+      "frame_end": 296,
+      "mode": "crouch",
+      "movement": "backward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 5.93,
+      "speed": -1.0
+    },
+    {
+      "idx": 1,
+      "t_start": 5.93,
+      "t_end": 11.05,
+      "frame_start": 296,
+      "frame_end": 552,
+      "mode": "zombie",
+      "movement": "forward",
+      "turn_deg": 30.0,
+      "turn_dir": "right",
+      "duration_sec": 5.12,
+      "speed": -1.0
+    },
+    {
+      "idx": 2,
+      "t_start": 11.05,
+      "t_end": 19.59,
+      "frame_start": 552,
+      "frame_end": 980,
+      "mode": "left_jab",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 8.54,
+      "speed": 0.9
+    },
+    {
+      "idx": 3,
+      "t_start": 19.59,
+      "t_end": 24.85,
+      "frame_start": 980,
+      "frame_end": 1242,
+      "mode": "left_hook",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 5.26,
+      "speed": -1.0
+    }
+  ],
+  "full_trajectory": [
+    "The robot crouch-walks backward for 5.9 seconds, then turns right 30 degrees while shambling for 5.1 seconds, then throws a left jab forward for 8.5 seconds, and finally throws a left hook forward for 5.3 seconds.",
+    "The person crouch-walks backward for 5.9 seconds, then turns right 30 degrees while shambling for 5.1 seconds, then throws a left jab forward for 8.5 seconds, and finally throws a left hook forward for 5.3 seconds.",
+    "Crouch-walks backward for 5.9 seconds, then turns right 30 degrees while shambling for 5.1 seconds, then throws a left jab forward for 8.5 seconds, and finally throws a left hook forward for 5.3 seconds.",
+    "The robot crouch-walks backward, then turns right 30 degrees while shambling, then throws a left jab forward, and finally throws a left hook forward.",
+    "The person crouch-walks backward, then turns right 30 degrees while shambling, then throws a left jab forward, and finally throws a left hook forward.",
+    "Crouch-walks backward, then turns right 30 degrees while shambling, then throws a left jab forward, and finally throws a left hook forward.",
+    "Crouch-walk back for 5.9 seconds, then Turn right 30 degrees while zombie-walking over 5.1s, then Throw a left jab ahead for 8.5 seconds, then Throw a left hook ahead for 5.3 seconds.",
+    "Crouch-walk back in a crouched posture for about 5.9 seconds, followed by Pivot right (a partial right turn (~30\u00b0)) while zombie-walking over 5.1s, followed by Throw a left jab ahead with precision for about 8.5 seconds, followed by Throw a left hook ahead with full force for about 5.3 seconds.",
+    "The robot walks in a low crouch backward in a crouched posture for 5.9 seconds, after which The robot pivots right (a partial right turn (~30\u00b0)) while shuffling zombie-like for 5.1s, after which The robot executes a left jab forward with precision for 8.5 seconds, after which The robot executes a left hook forward with full force for 5.3 seconds.",
+    "crouch backward 5.9s; zombie + turn right 30\u00b0 5.1s; left jab forward 8.5s; left hook forward 5.3s",
+    "Move while crouching back, and then Swing right 30 degrees while zombie-walking, and then Jab with the left hand ahead, and then Hook with the left ahead.",
+    "Move while crouching back in a crouched posture, afterwards Veer right (a partial right turn (~30\u00b0)) while zombie-walking, afterwards Jab with the left hand ahead with precision, afterwards Hook with the left ahead with control.",
+    "The robot crouch-walks backward in a crouched posture, before The robot pivots right (a partial right turn (~30\u00b0)) while shuffling zombie-like, before The robot throws a left jab forward with precision, before The robot throws a left hook forward with control.",
+    "crouch backward; zombie + turn right 30\u00b0; left jab forward; left hook forward",
+    "Crouch-walk in reverse low to the ground for about 5.9 seconds, next The robot turns right (a partial right turn (~30\u00b0)) while lurching forward for 5.1s, next left jab forward 8.5s, next Hook with the left straight.",
+    "The robot walks in a low crouch in reverse in a crouched posture for 5.9 seconds, and then zombie + turn right 30\u00b0 5.1s, and then Jab with the left hand in the forward direction, and then Hook with the left in the forward direction with control.",
+    "crouch backward 5.9s, afterwards Rotate right 30 degrees while shambling, afterwards Jab with the left hand forward with precision, afterwards The robot throws a left hook in the forward direction with control."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Crouch-walk back for 5.9 seconds.",
+        "Walk in a low crouch backward low to the ground for about 5.9 seconds.",
+        "The robot crouch-walks in reverse in a crouched posture for 5.9 seconds.",
+        "crouch backward 5.9s",
+        "Crouch-walk back.",
+        "Walk in a low crouch backward low to the ground.",
+        "The robot crouch-walks in reverse in a crouched posture.",
+        "crouch backward"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Rotate right 30 degrees while shuffling zombie-like over 5.1s.",
+        "Pivot right (a partial right turn (~30\u00b0)) while zombie-walking over 5.1s.",
+        "The robot veers right (a partial right turn (~30\u00b0)) while zombie-walking for 5.1s.",
+        "zombie + turn right 30\u00b0 5.1s",
+        "Rotate right 30 degrees while shuffling zombie-like.",
+        "Pivot right (a partial right turn (~30\u00b0)) while zombie-walking.",
+        "The robot veers right (a partial right turn (~30\u00b0)) while zombie-walking.",
+        "zombie + turn right 30\u00b0"
+      ]
+    },
+    {
+      "segment_idx": 2,
+      "annotations": [
+        "Execute a left jab in the forward direction for 8.5 seconds.",
+        "Jab with the left hand straight with precision for about 8.5 seconds.",
+        "The robot executes a left jab forward with precision for 8.5 seconds.",
+        "left jab forward 8.5s",
+        "Execute a left jab in the forward direction.",
+        "Jab with the left hand straight with precision.",
+        "The robot executes a left jab forward with precision.",
+        "left jab forward"
+      ]
+    },
+    {
+      "segment_idx": 3,
+      "annotations": [
+        "Throw a left hook forward for 5.3 seconds.",
+        "Execute a left hook in the forward direction powerfully for about 5.3 seconds.",
+        "The robot throws a left hook ahead with control for 5.3 seconds.",
+        "left hook forward 5.3s",
+        "Throw a left hook forward.",
+        "Execute a left hook in the forward direction powerfully.",
+        "The robot throws a left hook ahead with control.",
+        "left hook forward"
+      ]
+    }
+  ]
+}

motion/00243_object_carrying_turnr60_point_backward_idle_boxing_injured_sright/annotation.json

@@ -0,0 +1,134 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "object_carrying_turnr60_point_backward_idle_boxing_injured_sright",
+  "total_duration_sec": 22.15,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 3.81,
+      "frame_start": 0,
+      "frame_end": 190,
+      "mode": "object_carrying",
+      "movement": "forward",
+      "turn_deg": 60.0,
+      "turn_dir": "right",
+      "duration_sec": 3.81,
+      "speed": -1.0
+    },
+    {
+      "idx": 1,
+      "t_start": 3.81,
+      "t_end": 10.09,
+      "frame_start": 190,
+      "frame_end": 504,
+      "mode": "point",
+      "movement": "backward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 6.28,
+      "speed": -1.0
+    },
+    {
+      "idx": 2,
+      "t_start": 10.09,
+      "t_end": 18.04,
+      "frame_start": 504,
+      "frame_end": 902,
+      "mode": "idle_boxing",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 7.95,
+      "speed": -1.0
+    },
+    {
+      "idx": 3,
+      "t_start": 18.04,
+      "t_end": 22.15,
+      "frame_start": 902,
+      "frame_end": 1108,
+      "mode": "injured",
+      "movement": "strafe_right",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 4.11,
+      "speed": -1.0
+    }
+  ],
+  "full_trajectory": [
+    "The robot turns right 60 degrees while walking while carrying an object for 3.8 seconds, then walks while pointing backward for 6.3 seconds, then shadow boxes forward for 8.0 seconds, and finally limps right for 4.1 seconds.",
+    "The person turns right 60 degrees while walking while carrying an object for 3.8 seconds, then walks while pointing backward for 6.3 seconds, then shadow boxes forward for 8.0 seconds, and finally limps right for 4.1 seconds.",
+    "Turns right 60 degrees while walking while carrying an object for 3.8 seconds, then walks while pointing backward for 6.3 seconds, then shadow boxes forward for 8.0 seconds, and finally limps right for 4.1 seconds.",
+    "The robot turns right 60 degrees while walking while carrying an object, then walks while pointing backward, then shadow boxes forward, and finally limps right.",
+    "The person turns right 60 degrees while walking while carrying an object, then walks while pointing backward, then shadow boxes forward, and finally limps right.",
+    "Turns right 60 degrees while walking while carrying an object, then walks while pointing backward, then shadow boxes forward, and finally limps right.",
+    "Turn right 60 degrees while walking while carrying over 3.8s, then Walk while pointing back for 6.3 seconds, then Shadow box ahead for 8.0 seconds, then Limp to the right for 4.1 seconds.",
+    "Pivot right (a quarter right turn (~90\u00b0)) while walking while carrying over 3.8s, followed by Walk while pointing back while gesturing for about 6.3 seconds, followed by Shadow box ahead in stance for about 8.0 seconds, followed by Stagger to the right unsteadily for about 4.1 seconds.",
+    "The robot pivots right (a quarter right turn (~90\u00b0)) while moving with a load for 3.8s, after which The robot strides while gesturing backward while gesturing for 6.3 seconds, after which The robot holds a boxing stance forward in stance for 8.0 seconds, after which The robot hobbles to the right unsteadily for 4.1 seconds.",
+    "object carrying + turn right 60\u00b0 3.8s; point backward 6.3s; idle boxing forward 8.0s; injured strafe right 4.1s",
+    "Swing right 60 degrees while moving with a load, and then Move and point back, and then Box in place ahead, and then Limp sideways to the right.",
+    "Veer right (a quarter right turn (~90\u00b0)) while moving with a load, afterwards Move and point back while gesturing, afterwards Box in place ahead with guard up, afterwards Stagger sideways to the right with great difficulty.",
+    "The robot pivots right (a quarter right turn (~90\u00b0)) while carrying an object, before The robot walks while pointing backward while gesturing, before The robot shadow boxes forward with guard up, before The robot hobbles sideways to the right with great difficulty.",
+    "object carrying + turn right 60\u00b0; point backward; idle boxing forward; injured strafe right",
+    "Veer right (a quarter right turn (~90\u00b0)) while walking while carrying over 3.8s, next The robot strides while gesturing back with a directing hand for 6.3 seconds, next idle boxing forward 8.0s, next Hobble sideways to the right.",
+    "The robot rotates right (a quarter right turn (~90\u00b0)) while moving with a load for 3.8s, and then point backward 6.3s, and then Box in place in the forward direction, and then Hobble sideways to the right with great difficulty.",
+    "object carrying + turn right 60\u00b0 3.8s, afterwards Move and point backward, afterwards Box in place forward with guard up, afterwards The robot limps sideways to the right with great difficulty."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Turn right 60 degrees while walking while carrying over 3.8s.",
+        "Veer right (a quarter right turn (~90\u00b0)) while carrying an object over 3.8s.",
+        "The robot rotates right (a quarter right turn (~90\u00b0)) while carrying an object for 3.8s.",
+        "object carrying + turn right 60\u00b0 3.8s",
+        "Turn right 60 degrees while walking while carrying.",
+        "Veer right (a quarter right turn (~90\u00b0)) while carrying an object.",
+        "The robot rotates right (a quarter right turn (~90\u00b0)) while carrying an object.",
+        "object carrying + turn right 60\u00b0"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Move and point in reverse for 6.3 seconds.",
+        "Walk while pointing back while gesturing for about 6.3 seconds.",
+        "The robot moves and points rearward with a directing hand for 6.3 seconds.",
+        "point backward 6.3s",
+        "Move and point in reverse.",
+        "Walk while pointing back while gesturing.",
+        "The robot moves and points rearward with a directing hand.",
+        "point backward"
+      ]
+    },
+    {
+      "segment_idx": 2,
+      "annotations": [
+        "Hold a boxing stance in the forward direction for 8.0 seconds.",
+        "Box in place straight with guard up for about 8.0 seconds.",
+        "The robot holds a boxing stance forward in stance for 8.0 seconds.",
+        "idle boxing forward 8.0s",
+        "Hold a boxing stance in the forward direction.",
+        "Box in place straight with guard up.",
+        "The robot holds a boxing stance forward in stance.",
+        "idle boxing forward"
+      ]
+    },
+    {
+      "segment_idx": 3,
+      "annotations": [
+        "Stagger to the right for 4.1 seconds.",
+        "Hobble right painfully for about 4.1 seconds.",
+        "The robot moves with difficulty sideways to the right with great difficulty for 4.1 seconds.",
+        "injured strafe right 4.1s",
+        "Stagger to the right.",
+        "Hobble right painfully.",
+        "The robot moves with difficulty sideways to the right with great difficulty.",
+        "injured strafe right"
+      ]
+    }
+  ]
+}

motion/00269_happy_turnl30_right_jab_left_hook_happy/annotation.json

@@ -0,0 +1,134 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "happy_turnl30_right_jab_left_hook_happy",
+  "total_duration_sec": 12.92,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 3.53,
+      "frame_start": 0,
+      "frame_end": 176,
+      "mode": "happy",
+      "movement": "forward",
+      "turn_deg": 30.0,
+      "turn_dir": "left",
+      "duration_sec": 3.53,
+      "speed": -1.0
+    },
+    {
+      "idx": 1,
+      "t_start": 3.53,
+      "t_end": 7.9,
+      "frame_start": 176,
+      "frame_end": 395,
+      "mode": "right_jab",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 4.37,
+      "speed": -1.0
+    },
+    {
+      "idx": 2,
+      "t_start": 7.9,
+      "t_end": 10.77,
+      "frame_start": 395,
+      "frame_end": 538,
+      "mode": "left_hook",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 2.87,
+      "speed": -1.0
+    },
+    {
+      "idx": 3,
+      "t_start": 10.77,
+      "t_end": 12.92,
+      "frame_start": 538,
+      "frame_end": 646,
+      "mode": "happy",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 2.15,
+      "speed": -1.0
+    }
+  ],
+  "full_trajectory": [
+    "The robot turns left 30 degrees while walking happily for 3.5 seconds, then throws a right jab forward for 4.4 seconds, then throws a left hook forward for 2.9 seconds, and finally walks happily forward for 2.1 seconds.",
+    "The person turns left 30 degrees while walking happily for 3.5 seconds, then throws a right jab forward for 4.4 seconds, then throws a left hook forward for 2.9 seconds, and finally walks happily forward for 2.1 seconds.",
+    "Turns left 30 degrees while walking happily for 3.5 seconds, then throws a right jab forward for 4.4 seconds, then throws a left hook forward for 2.9 seconds, and finally walks happily forward for 2.1 seconds.",
+    "The robot turns left 30 degrees while walking happily, then throws a right jab forward, then throws a left hook forward, and finally walks happily forward.",
+    "The person turns left 30 degrees while walking happily, then throws a right jab forward, then throws a left hook forward, and finally walks happily forward.",
+    "Turns left 30 degrees while walking happily, then throws a right jab forward, then throws a left hook forward, and finally walks happily forward.",
+    "Turn left 30 degrees while struting over 3.5s, then Throw a right jab ahead for 4.4 seconds, then Throw a left hook ahead for 2.9 seconds, then Walk happily ahead for 2.1 seconds.",
+    "Pivot left (a partial left turn (~30\u00b0)) while struting over 3.5s, followed by Throw a right jab ahead with force for about 4.4 seconds, followed by Throw a left hook ahead with full force for about 2.9 seconds, followed by Bounce along ahead in high spirits for about 2.1 seconds.",
+    "The robot pivots left (a partial left turn (~30\u00b0)) while moving cheerfully for 3.5s, after which The robot executes a right jab forward with force for 4.4 seconds, after which The robot executes a left hook forward with full force for 2.9 seconds, after which The robot struts forward in high spirits for 2.1 seconds.",
+    "happy + turn left 30\u00b0 3.5s; right jab forward 4.4s; left hook forward 2.9s; happy forward 2.1s",
+    "Swing left 30 degrees while struting, and then Jab with the right hand ahead, and then Hook with the left ahead, and then Walk happily ahead.",
+    "Veer left (a partial left turn (~30\u00b0)) while struting, afterwards Jab with the right hand ahead with control, afterwards Hook with the left ahead with control, afterwards Bounce along ahead cheerfully.",
+    "The robot pivots left (a partial left turn (~30\u00b0)) while moving cheerfully, before The robot throws a right jab forward with control, before The robot throws a left hook forward with control, before The robot struts forward cheerfully.",
+    "happy + turn left 30\u00b0; right jab forward; left hook forward; happy forward",
+    "Veer left (a partial left turn (~30\u00b0)) while moving cheerfully over 3.5s, next The robot executes a right jab ahead with force for 4.4 seconds, next left hook forward 2.9s, next Strut straight.",
+    "The robot rotates left (a partial left turn (~30\u00b0)) while walking happily for 3.5s, and then right jab forward 4.4s, and then Hook with the left in the forward direction, and then Strut in the forward direction cheerfully.",
+    "happy + turn left 30\u00b0 3.5s, afterwards Jab with the right hand forward, afterwards Hook with the left forward with control, afterwards The robot walks happily in the forward direction cheerfully."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Turn left 30 degrees while struting over 3.5s.",
+        "Veer left (a partial left turn (~30\u00b0)) while walking happily over 3.5s.",
+        "The robot rotates left (a partial left turn (~30\u00b0)) while walking happily for 3.5s.",
+        "happy + turn left 30\u00b0 3.5s",
+        "Turn left 30 degrees while struting.",
+        "Veer left (a partial left turn (~30\u00b0)) while walking happily.",
+        "The robot rotates left (a partial left turn (~30\u00b0)) while walking happily.",
+        "happy + turn left 30\u00b0"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Jab with the right hand straight for 4.4 seconds.",
+        "Throw a right jab ahead with force for about 4.4 seconds.",
+        "The robot jabs with the right in the forward direction with precision for 4.4 seconds.",
+        "right jab forward 4.4s",
+        "Jab with the right hand straight.",
+        "Throw a right jab ahead with force.",
+        "The robot jabs with the right in the forward direction with precision.",
+        "right jab forward"
+      ]
+    },
+    {
+      "segment_idx": 2,
+      "annotations": [
+        "Execute a left hook in the forward direction for 2.9 seconds.",
+        "Hook with the left straight with control for about 2.9 seconds.",
+        "The robot executes a left hook forward with full force for 2.9 seconds.",
+        "left hook forward 2.9s",
+        "Execute a left hook in the forward direction.",
+        "Hook with the left straight with control.",
+        "The robot executes a left hook forward with full force.",
+        "left hook forward"
+      ]
+    },
+    {
+      "segment_idx": 3,
+      "annotations": [
+        "Bounce along forward for 2.1 seconds.",
+        "Strut in the forward direction with a bounce for about 2.1 seconds.",
+        "The robot moves cheerfully ahead cheerfully for 2.1 seconds.",
+        "happy forward 2.1s",
+        "Bounce along forward.",
+        "Strut in the forward direction with a bounce.",
+        "The robot moves cheerfully ahead cheerfully.",
+        "happy forward"
+      ]
+    }
+  ]
+}

motion/00305_left_jab_stealth_walk_turnl60_kneel_one/annotation.json

@@ -0,0 +1,134 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "left_jab_stealth_walk_turnl60_kneel_one",
+  "total_duration_sec": 24.93,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 7.39,
+      "frame_start": 0,
+      "frame_end": 370,
+      "mode": "left_jab",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 7.39,
+      "speed": 1.164
+    },
+    {
+      "idx": 1,
+      "t_start": 7.39,
+      "t_end": 14.73,
+      "frame_start": 370,
+      "frame_end": 736,
+      "mode": "stealth",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 7.34,
+      "speed": -1.0
+    },
+    {
+      "idx": 2,
+      "t_start": 14.73,
+      "t_end": 22.33,
+      "frame_start": 736,
+      "frame_end": 1116,
+      "mode": "walk",
+      "movement": "forward",
+      "turn_deg": 60.0,
+      "turn_dir": "left",
+      "duration_sec": 7.6,
+      "speed": -1.0
+    },
+    {
+      "idx": 3,
+      "t_start": 22.33,
+      "t_end": 24.93,
+      "frame_start": 1116,
+      "frame_end": 1246,
+      "mode": "kneel_one",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 2.6,
+      "speed": -1.0
+    }
+  ],
+  "full_trajectory": [
+    "The robot throws a left jab forward for 7.4 seconds, then sneaks forward for 7.3 seconds, then turns left 60 degrees while walking for 7.6 seconds, and finally kneels on one knee forward for 2.6 seconds.",
+    "The person throws a left jab forward for 7.4 seconds, then sneaks forward for 7.3 seconds, then turns left 60 degrees while walking for 7.6 seconds, and finally kneels on one knee forward for 2.6 seconds.",
+    "Throws a left jab forward for 7.4 seconds, then sneaks forward for 7.3 seconds, then turns left 60 degrees while walking for 7.6 seconds, and finally kneels on one knee forward for 2.6 seconds.",
+    "The robot throws a left jab forward, then sneaks forward, then turns left 60 degrees while walking, and finally kneels on one knee forward.",
+    "The person throws a left jab forward, then sneaks forward, then turns left 60 degrees while walking, and finally kneels on one knee forward.",
+    "Throws a left jab forward, then sneaks forward, then turns left 60 degrees while walking, and finally kneels on one knee forward.",
+    "Throw a left jab ahead for 7.4 seconds, then Sneak ahead for 7.3 seconds, then Turn left 60 degrees while striding over 7.6s, then Kneel on one knee ahead for 2.6 seconds.",
+    "Throw a left jab ahead with precision for about 7.4 seconds, followed by Move covertly ahead silently for about 7.3 seconds, followed by Pivot left (a quarter left turn (~90\u00b0)) while striding over 7.6s, followed by Kneel on one knee ahead on one knee for about 2.6 seconds.",
+    "The robot executes a left jab forward with precision for 7.4 seconds, after which The robot moves stealthily forward silently for 7.3 seconds, after which The robot pivots left (a quarter left turn (~90\u00b0)) while marching for 7.6s, after which The robot single-knee crawls forward on one knee for 2.6 seconds.",
+    "left jab forward 7.4s; stealth forward 7.3s; walk + turn left 60\u00b0 7.6s; kneel one forward 2.6s",
+    "Jab with the left hand ahead, and then Sneak ahead, and then Swing left 60 degrees while striding, and then Move on one knee ahead.",
+    "Jab with the left hand ahead with precision, afterwards Move covertly ahead without a sound, afterwards Veer left (a quarter left turn (~90\u00b0)) while striding, afterwards Move on one knee ahead on one knee.",
+    "The robot throws a left jab forward with precision, before The robot moves stealthily forward without a sound, before The robot pivots left (a quarter left turn (~90\u00b0)) while marching, before The robot kneels on one knee forward on one knee.",
+    "left jab forward; stealth forward; walk + turn left 60\u00b0; kneel one forward",
+    "Throw a left jab straight with precision for about 7.4 seconds, next The robot creeps silently ahead silently for 7.3 seconds, next walk + turn left 60\u00b0 7.6s, next Move on one knee straight.",
+    "The robot executes a left jab straight with precision for 7.4 seconds, and then stealth forward 7.3s, and then Veer left 60 degrees while moving briskly, and then Move on one knee in the forward direction on one knee.",
+    "left jab forward 7.4s, afterwards Move covertly forward, afterwards Swing left (a quarter left turn (~90\u00b0)) while walking, afterwards The robot kneels on one knee in the forward direction in a half-kneel."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Throw a left jab ahead for 7.4 seconds.",
+        "Execute a left jab forward with precision for about 7.4 seconds.",
+        "The robot throws a left jab straight with precision for 7.4 seconds.",
+        "left jab forward 7.4s",
+        "Throw a left jab ahead.",
+        "Execute a left jab forward with precision.",
+        "The robot throws a left jab straight with precision.",
+        "left jab forward"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Move stealthily straight for 7.3 seconds.",
+        "Move covertly ahead silently for about 7.3 seconds.",
+        "The robot sneaks in the forward direction covertly for 7.3 seconds.",
+        "stealth forward 7.3s",
+        "Move stealthily straight.",
+        "Move covertly ahead silently.",
+        "The robot sneaks in the forward direction covertly.",
+        "stealth forward"
+      ]
+    },
+    {
+      "segment_idx": 2,
+      "annotations": [
+        "Veer left 60 degrees while moving briskly over 7.6s.",
+        "Swing left (a quarter left turn (~90\u00b0)) while marching over 7.6s.",
+        "The robot pivots left (a quarter left turn (~90\u00b0)) while marching for 7.6s.",
+        "walk + turn left 60\u00b0 7.6s",
+        "Veer left 60 degrees while moving briskly.",
+        "Swing left (a quarter left turn (~90\u00b0)) while marching.",
+        "The robot pivots left (a quarter left turn (~90\u00b0)) while marching.",
+        "walk + turn left 60\u00b0"
+      ]
+    },
+    {
+      "segment_idx": 3,
+      "annotations": [
+        "Kneel on one knee forward for 2.6 seconds.",
+        "Single-knee crawl in the forward direction on one knee for about 2.6 seconds.",
+        "The robot kneels on one knee ahead in a half-kneel for 2.6 seconds.",
+        "kneel one forward 2.6s",
+        "Kneel on one knee forward.",
+        "Single-knee crawl in the forward direction on one knee.",
+        "The robot kneels on one knee ahead in a half-kneel.",
+        "kneel one forward"
+      ]
+    }
+  ]
+}

motion/00351_kneel_two_right_jab/annotation.json

@@ -0,0 +1,82 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "kneel_two_right_jab",
+  "total_duration_sec": 14.01,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 5.09,
+      "frame_start": 0,
+      "frame_end": 254,
+      "mode": "kneel_two",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 5.09,
+      "speed": -1.0
+    },
+    {
+      "idx": 1,
+      "t_start": 5.09,
+      "t_end": 14.01,
+      "frame_start": 254,
+      "frame_end": 700,
+      "mode": "right_jab",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 8.92,
+      "speed": 1.275
+    }
+  ],
+  "full_trajectory": [
+    "The robot kneels on both knees forward for 5.1 seconds, and finally throws a right jab forward for 8.9 seconds.",
+    "The person kneels on both knees forward for 5.1 seconds, and finally throws a right jab forward for 8.9 seconds.",
+    "Kneels on both knees forward for 5.1 seconds, and finally throws a right jab forward for 8.9 seconds.",
+    "The robot kneels on both knees forward, and finally throws a right jab forward.",
+    "The person kneels on both knees forward, and finally throws a right jab forward.",
+    "Kneels on both knees forward, and finally throws a right jab forward.",
+    "Kneel on both knees ahead for 5.1 seconds, then Throw a right jab ahead for 8.9 seconds.",
+    "Kneel on both knees ahead on both knees for about 5.1 seconds, followed by Throw a right jab ahead with precision for about 8.9 seconds.",
+    "The robot two-knee walks forward on both knees for 5.1 seconds, after which The robot executes a right jab forward with precision for 8.9 seconds.",
+    "kneel two forward 5.1s; right jab forward 8.9s",
+    "Move while kneeling ahead, and then Jab with the right hand ahead.",
+    "Move while kneeling ahead on both knees, afterwards Jab with the right hand ahead with precision.",
+    "The robot kneels on both knees forward on both knees, before The robot throws a right jab forward with precision.",
+    "kneel two forward; right jab forward",
+    "Kneel on both knees straight in a kneeling position for about 5.1 seconds, next The robot executes a right jab ahead with precision for 8.9 seconds.",
+    "The robot two-knee walks straight on both knees for 5.1 seconds, and then right jab forward 8.9s.",
+    "kneel two forward 5.1s, afterwards Jab with the right hand forward."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Kneel on both knees ahead for 5.1 seconds.",
+        "Two-knee walk forward in a kneeling position for about 5.1 seconds.",
+        "The robot kneels on both knees straight on both knees for 5.1 seconds.",
+        "kneel two forward 5.1s",
+        "Kneel on both knees ahead.",
+        "Two-knee walk forward in a kneeling position.",
+        "The robot kneels on both knees straight on both knees.",
+        "kneel two forward"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Jab with the right hand straight for 8.9 seconds.",
+        "Throw a right jab ahead with precision for about 8.9 seconds.",
+        "The robot jabs with the right in the forward direction with precision for 8.9 seconds.",
+        "right jab forward 8.9s",
+        "Jab with the right hand straight.",
+        "Throw a right jab ahead with precision.",
+        "The robot jabs with the right in the forward direction with precision.",
+        "right jab forward"
+      ]
+    }
+  ]
+}

motion/00467_hand_crawl_turnr90_walk_backward/annotation.json

@@ -0,0 +1,82 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "hand_crawl_turnr90_walk_backward",
+  "total_duration_sec": 14.97,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 9.06,
+      "frame_start": 0,
+      "frame_end": 453,
+      "mode": "hand_crawl",
+      "movement": "forward",
+      "turn_deg": 90.0,
+      "turn_dir": "right",
+      "duration_sec": 9.06,
+      "speed": 1.013
+    },
+    {
+      "idx": 1,
+      "t_start": 9.06,
+      "t_end": 14.97,
+      "frame_start": 453,
+      "frame_end": 748,
+      "mode": "walk",
+      "movement": "backward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 5.91,
+      "speed": -1.0
+    }
+  ],
+  "full_trajectory": [
+    "The robot turns right 90 degrees while crawling on hands and knees for 9.1 seconds, and finally walks backward for 5.9 seconds.",
+    "The person turns right 90 degrees while crawling on hands and knees for 9.1 seconds, and finally walks backward for 5.9 seconds.",
+    "Turns right 90 degrees while crawling on hands and knees for 9.1 seconds, and finally walks backward for 5.9 seconds.",
+    "The robot turns right 90 degrees while crawling on hands and knees, and finally walks backward.",
+    "The person turns right 90 degrees while crawling on hands and knees, and finally walks backward.",
+    "Turns right 90 degrees while crawling on hands and knees, and finally walks backward.",
+    "Turn right 90 degrees while crawling forward over 9.1s, then Walk back for 5.9 seconds.",
+    "Pivot right (a quarter right turn (~90\u00b0)) while crawling forward over 9.1s, followed by Move briskly back for about 5.9 seconds.",
+    "The robot pivots right (a quarter right turn (~90\u00b0)) while hand-and-kneeing crawl for 9.1s, after which The robot strides backward briskly for 5.9 seconds.",
+    "hand crawl + turn right 90\u00b0 9.1s; walk backward 5.9s",
+    "Swing right 90 degrees while hand-and-kneeing crawl, and then Walk back.",
+    "Veer right (a quarter right turn (~90\u00b0)) while hand-and-kneeing crawl, afterwards Move briskly back.",
+    "The robot pivots right (a quarter right turn (~90\u00b0)) while crawling on hands and knees, before The robot strides backward at walking pace.",
+    "hand crawl + turn right 90\u00b0; walk backward",
+    "Veer right (a quarter right turn (~90\u00b0)) while crawling forward over 9.1s, next The robot marches back briskly for 5.9 seconds.",
+    "The robot rotates right (a quarter right turn (~90\u00b0)) while hand-and-kneeing crawl for 9.1s, and then walk backward 5.9s.",
+    "hand crawl + turn right 90\u00b0 9.1s, afterwards Move briskly backward."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Turn right 90 degrees while crawling forward over 9.1s.",
+        "Veer right (a quarter right turn (~90\u00b0)) while crawling on hands and knees over 9.1s.",
+        "The robot rotates right (a quarter right turn (~90\u00b0)) while crawling on hands and knees for 9.1s.",
+        "hand crawl + turn right 90\u00b0 9.1s",
+        "Turn right 90 degrees while crawling forward.",
+        "Veer right (a quarter right turn (~90\u00b0)) while crawling on hands and knees.",
+        "The robot rotates right (a quarter right turn (~90\u00b0)) while crawling on hands and knees.",
+        "hand crawl + turn right 90\u00b0"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Stride in reverse for 5.9 seconds.",
+        "Move briskly back for about 5.9 seconds.",
+        "The robot walks rearward steadily for 5.9 seconds.",
+        "walk backward 5.9s",
+        "Stride in reverse.",
+        "Move briskly back.",
+        "The robot walks rearward steadily.",
+        "walk backward"
+      ]
+    }
+  ]
+}

motion/00521_walk_sright/annotation.json

@@ -0,0 +1,56 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "walk_sright",
+  "total_duration_sec": 6.7,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 6.7,
+      "frame_start": 0,
+      "frame_end": 335,
+      "mode": "walk",
+      "movement": "strafe_right",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 6.7,
+      "speed": -1.0
+    }
+  ],
+  "full_trajectory": [
+    "The robot walks right for 6.7 seconds.",
+    "The person walks right for 6.7 seconds.",
+    "Walks right for 6.7 seconds.",
+    "The robot walks right.",
+    "The person walks right.",
+    "Walks right.",
+    "Walk to the right for 6.7 seconds.",
+    "Move briskly to the right for about 6.7 seconds.",
+    "The robot strides to the right briskly for 6.7 seconds.",
+    "walk strafe right 6.7s",
+    "Walk sideways to the right.",
+    "Move briskly sideways to the right.",
+    "The robot strides sideways to the right at walking pace.",
+    "walk strafe right",
+    "Walk to the right briskly for about 6.7 seconds.",
+    "The robot moves briskly to the right for 6.7 seconds.",
+    "walk strafe right 6.7s."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Walk to the right for 6.7 seconds.",
+        "March right steadily for about 6.7 seconds.",
+        "The robot moves briskly sideways to the right for 6.7 seconds.",
+        "walk strafe right 6.7s",
+        "Walk to the right.",
+        "March right steadily.",
+        "The robot moves briskly sideways to the right.",
+        "walk strafe right"
+      ]
+    }
+  ]
+}

motion/00528_point_right_hook/annotation.json

@@ -0,0 +1,82 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "point_right_hook",
+  "total_duration_sec": 12.75,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 3.72,
+      "frame_start": 0,
+      "frame_end": 186,
+      "mode": "point",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 3.72,
+      "speed": -1.0
+    },
+    {
+      "idx": 1,
+      "t_start": 3.72,
+      "t_end": 12.75,
+      "frame_start": 186,
+      "frame_end": 638,
+      "mode": "right_hook",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 9.03,
+      "speed": -1.0
+    }
+  ],
+  "full_trajectory": [
+    "The robot walks while pointing forward for 3.7 seconds, and finally throws a right hook forward for 9.0 seconds.",
+    "The person walks while pointing forward for 3.7 seconds, and finally throws a right hook forward for 9.0 seconds.",
+    "Walks while pointing forward for 3.7 seconds, and finally throws a right hook forward for 9.0 seconds.",
+    "The robot walks while pointing forward, and finally throws a right hook forward.",
+    "The person walks while pointing forward, and finally throws a right hook forward.",
+    "Walks while pointing forward, and finally throws a right hook forward.",
+    "Walk while pointing ahead for 3.7 seconds, then Throw a right hook ahead for 9.0 seconds.",
+    "Walk while pointing ahead while gesturing for about 3.7 seconds, followed by Throw a right hook ahead with full force for about 9.0 seconds.",
+    "The robot strides while gesturing forward while gesturing for 3.7 seconds, after which The robot executes a right hook forward with full force for 9.0 seconds.",
+    "point forward 3.7s; right hook forward 9.0s",
+    "Move and point ahead, and then Hook with the right ahead.",
+    "Move and point ahead while gesturing, afterwards Hook with the right ahead with control.",
+    "The robot walks while pointing forward while gesturing, before The robot throws a right hook forward with control.",
+    "point forward; right hook forward",
+    "Walk while pointing straight with a directing hand for about 3.7 seconds, next The robot executes a right hook ahead with full force for 9.0 seconds.",
+    "The robot strides while gesturing straight while gesturing for 3.7 seconds, and then right hook forward 9.0s.",
+    "point forward 3.7s, afterwards Hook with the right forward."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Walk while pointing ahead for 3.7 seconds.",
+        "Stride while gesturing forward with a directing hand for about 3.7 seconds.",
+        "The robot walks while pointing straight while gesturing for 3.7 seconds.",
+        "point forward 3.7s",
+        "Walk while pointing ahead.",
+        "Stride while gesturing forward with a directing hand.",
+        "The robot walks while pointing straight while gesturing.",
+        "point forward"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Hook with the right straight for 9.0 seconds.",
+        "Throw a right hook ahead with full force for about 9.0 seconds.",
+        "The robot hooks with the right in the forward direction powerfully for 9.0 seconds.",
+        "right hook forward 9.0s",
+        "Hook with the right straight.",
+        "Throw a right hook ahead with full force.",
+        "The robot hooks with the right in the forward direction powerfully.",
+        "right hook forward"
+      ]
+    }
+  ]
+}

motion/00560_slow_walk_turnr120_scared_turnl45_right_hook_left_jab/annotation.json

@@ -0,0 +1,134 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "slow_walk_turnr120_scared_turnl45_right_hook_left_jab",
+  "total_duration_sec": 21.61,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 6.16,
+      "frame_start": 0,
+      "frame_end": 308,
+      "mode": "slow_walk",
+      "movement": "forward",
+      "turn_deg": 120.0,
+      "turn_dir": "right",
+      "duration_sec": 6.16,
+      "speed": -1.0
+    },
+    {
+      "idx": 1,
+      "t_start": 6.16,
+      "t_end": 8.24,
+      "frame_start": 308,
+      "frame_end": 412,
+      "mode": "scared",
+      "movement": "forward",
+      "turn_deg": 45.0,
+      "turn_dir": "left",
+      "duration_sec": 2.08,
+      "speed": -1.0
+    },
+    {
+      "idx": 2,
+      "t_start": 8.24,
+      "t_end": 16.08,
+      "frame_start": 412,
+      "frame_end": 804,
+      "mode": "right_hook",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 7.84,
+      "speed": 1.126
+    },
+    {
+      "idx": 3,
+      "t_start": 16.08,
+      "t_end": 21.61,
+      "frame_start": 804,
+      "frame_end": 1080,
+      "mode": "left_jab",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 5.53,
+      "speed": 1.016
+    }
+  ],
+  "full_trajectory": [
+    "The robot turns right 120 degrees while walking slowly for 6.2 seconds, then turns left 45 degrees while scurrying for 2.1 seconds, then throws a right hook forward for 7.8 seconds, and finally throws a left jab forward for 5.5 seconds.",
+    "The person turns right 120 degrees while walking slowly for 6.2 seconds, then turns left 45 degrees while scurrying for 2.1 seconds, then throws a right hook forward for 7.8 seconds, and finally throws a left jab forward for 5.5 seconds.",
+    "Turns right 120 degrees while walking slowly for 6.2 seconds, then turns left 45 degrees while scurrying for 2.1 seconds, then throws a right hook forward for 7.8 seconds, and finally throws a left jab forward for 5.5 seconds.",
+    "The robot turns right 120 degrees while walking slowly, then turns left 45 degrees while scurrying, then throws a right hook forward, and finally throws a left jab forward.",
+    "The person turns right 120 degrees while walking slowly, then turns left 45 degrees while scurrying, then throws a right hook forward, and finally throws a left jab forward.",
+    "Turns right 120 degrees while walking slowly, then turns left 45 degrees while scurrying, then throws a right hook forward, and finally throws a left jab forward.",
+    "Turn right 120 degrees while creeping over 6.2s, then Turn left 45 degrees while moving fearfully over 2.1s, then Throw a right hook ahead for 7.8 seconds, then Throw a left jab ahead for 5.5 seconds.",
+    "Pivot right (a half right turn (~180\u00b0)) while creeping over 6.2s, followed by Pivot left (a partial left turn (~45\u00b0)) while moving fearfully over 2.1s, followed by Throw a right hook ahead powerfully for about 7.8 seconds, followed by Throw a left jab ahead with precision for about 5.5 seconds.",
+    "The robot pivots right (a half right turn (~180\u00b0)) while moving cautiously for 6.2s, after which The robot pivots left (a partial left turn (~45\u00b0)) while fleeing for 2.1s, after which The robot executes a right hook forward powerfully for 7.8 seconds, after which The robot executes a left jab forward with precision for 5.5 seconds.",
+    "slow walk + turn right 120\u00b0 6.2s; scared + turn left 45\u00b0 2.1s; right hook forward 7.8s; left jab forward 5.5s",
+    "Swing right 120 degrees while walking slowly, and then Swing left 45 degrees while moving fearfully, and then Hook with the right ahead, and then Jab with the left hand ahead.",
+    "Veer right (a half right turn (~180\u00b0)) while walking slowly, afterwards Veer left (a partial left turn (~45\u00b0)) while moving fearfully, afterwards Hook with the right ahead powerfully, afterwards Jab with the left hand ahead with precision.",
+    "The robot pivots right (a half right turn (~180\u00b0)) while creeping, before The robot pivots left (a partial left turn (~45\u00b0)) while fleeing, before The robot throws a right hook forward powerfully, before The robot throws a left jab forward with precision.",
+    "slow walk + turn right 120\u00b0; scared + turn left 45\u00b0; right hook forward; left jab forward",
+    "Veer right (a half right turn (~180\u00b0)) while walking slowly over 6.2s, next The robot turns left (a partial left turn (~45\u00b0)) while moving in a panic for 2.1s, next right hook forward 7.8s, next Jab with the left hand straight.",
+    "The robot rotates right (a half right turn (~180\u00b0)) while walking slowly for 6.2s, and then scared + turn left 45\u00b0 2.1s, and then Hook with the right in the forward direction, and then Jab with the left hand in the forward direction with precision.",
+    "slow walk + turn right 120\u00b0 6.2s, afterwards Rotate left 45 degrees while scurrying away, afterwards Hook with the right forward powerfully, afterwards The robot throws a left jab in the forward direction with precision."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Turn right 120 degrees while creeping over 6.2s.",
+        "Veer right (a half right turn (~180\u00b0)) while walking slowly over 6.2s.",
+        "The robot rotates right (a half right turn (~180\u00b0)) while walking slowly for 6.2s.",
+        "slow walk + turn right 120\u00b0 6.2s",
+        "Turn right 120 degrees while creeping.",
+        "Veer right (a half right turn (~180\u00b0)) while walking slowly.",
+        "The robot rotates right (a half right turn (~180\u00b0)) while walking slowly.",
+        "slow walk + turn right 120\u00b0"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Rotate left 45 degrees while fleeing over 2.1s.",
+        "Pivot left (a partial left turn (~45\u00b0)) while moving fearfully over 2.1s.",
+        "The robot veers left (a partial left turn (~45\u00b0)) while moving fearfully for 2.1s.",
+        "scared + turn left 45\u00b0 2.1s",
+        "Rotate left 45 degrees while fleeing.",
+        "Pivot left (a partial left turn (~45\u00b0)) while moving fearfully.",
+        "The robot veers left (a partial left turn (~45\u00b0)) while moving fearfully.",
+        "scared + turn left 45\u00b0"
+      ]
+    },
+    {
+      "segment_idx": 2,
+      "annotations": [
+        "Execute a right hook in the forward direction for 7.8 seconds.",
+        "Hook with the right straight powerfully for about 7.8 seconds.",
+        "The robot executes a right hook forward powerfully for 7.8 seconds.",
+        "right hook forward 7.8s",
+        "Execute a right hook in the forward direction.",
+        "Hook with the right straight powerfully.",
+        "The robot executes a right hook forward powerfully.",
+        "right hook forward"
+      ]
+    },
+    {
+      "segment_idx": 3,
+      "annotations": [
+        "Throw a left jab forward for 5.5 seconds.",
+        "Execute a left jab in the forward direction with precision for about 5.5 seconds.",
+        "The robot throws a left jab ahead with precision for 5.5 seconds.",
+        "left jab forward 5.5s",
+        "Throw a left jab forward.",
+        "Execute a left jab in the forward direction with precision.",
+        "The robot throws a left jab ahead with precision.",
+        "left jab forward"
+      ]
+    }
+  ]
+}

motion/00563_careful_sright_walk_boxing_point_crouch_sright/annotation.json

@@ -0,0 +1,134 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "careful_sright_walk_boxing_point_crouch_sright",
+  "total_duration_sec": 19.32,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 8.8,
+      "frame_start": 0,
+      "frame_end": 440,
+      "mode": "careful",
+      "movement": "strafe_right",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 8.8,
+      "speed": -1.0
+    },
+    {
+      "idx": 1,
+      "t_start": 8.8,
+      "t_end": 14.58,
+      "frame_start": 440,
+      "frame_end": 729,
+      "mode": "walk_boxing",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 5.78,
+      "speed": -1.0
+    },
+    {
+      "idx": 2,
+      "t_start": 14.58,
+      "t_end": 17.05,
+      "frame_start": 729,
+      "frame_end": 852,
+      "mode": "point",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 2.47,
+      "speed": -1.0
+    },
+    {
+      "idx": 3,
+      "t_start": 17.05,
+      "t_end": 19.32,
+      "frame_start": 852,
+      "frame_end": 966,
+      "mode": "crouch",
+      "movement": "strafe_right",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 2.27,
+      "speed": -1.0
+    }
+  ],
+  "full_trajectory": [
+    "The robot walks carefully right for 8.8 seconds, then walks while boxing forward for 5.8 seconds, then walks while pointing forward for 2.5 seconds, and finally crouch-walks right for 2.3 seconds.",
+    "The person walks carefully right for 8.8 seconds, then walks while boxing forward for 5.8 seconds, then walks while pointing forward for 2.5 seconds, and finally crouch-walks right for 2.3 seconds.",
+    "Walks carefully right for 8.8 seconds, then walks while boxing forward for 5.8 seconds, then walks while pointing forward for 2.5 seconds, and finally crouch-walks right for 2.3 seconds.",
+    "The robot walks carefully right, then walks while boxing forward, then walks while pointing forward, and finally crouch-walks right.",
+    "The person walks carefully right, then walks while boxing forward, then walks while pointing forward, and finally crouch-walks right.",
+    "Walks carefully right, then walks while boxing forward, then walks while pointing forward, and finally crouch-walks right.",
+    "Walk carefully to the right for 8.8 seconds, then Advance while boxing ahead for 5.8 seconds, then Walk while pointing ahead for 2.5 seconds, then Crouch-walk to the right for 2.3 seconds.",
+    "Step deliberately to the right attentively for about 8.8 seconds, followed by Advance while boxing ahead aggressively for about 5.8 seconds, followed by Walk while pointing ahead while gesturing for about 2.5 seconds, followed by Crouch-walk to the right in a crouched posture for about 2.3 seconds.",
+    "The robot treads carefully to the right for 8.8 seconds, after which The robot moves aggressively forward aggressively for 5.8 seconds, after which The robot strides while gesturing forward while gesturing for 2.5 seconds, after which The robot walks in a low crouch to the right in a crouched posture for 2.3 seconds.",
+    "careful strafe right 8.8s; walk boxing forward 5.8s; point forward 2.5s; crouch strafe right 2.3s",
+    "Walk carefully sideways to the right, and then Walk in a boxing stance ahead, and then Move and point ahead, and then Move while crouching sideways to the right.",
+    "Step deliberately sideways to the right with deliberate steps, afterwards Walk in a boxing stance ahead cautiously, afterwards Move and point ahead while gesturing, afterwards Move while crouching sideways to the right in a crouched posture.",
+    "The robot treads carefully sideways to the right, before The robot advances while boxing forward cautiously, before The robot walks while pointing forward while gesturing, before The robot crouch-walks sideways to the right in a crouched posture.",
+    "careful strafe right; walk boxing forward; point forward; crouch strafe right",
+    "Walk carefully to the right for about 8.8 seconds, next The robot moves aggressively ahead aggressively for 5.8 seconds, next point forward 2.5s, next Move while crouching sideways to the right.",
+    "The robot steps deliberately to the right attentively for 8.8 seconds, and then walk boxing forward 5.8s, and then Move and point in the forward direction, and then Move while crouching sideways to the right in a crouched posture.",
+    "careful strafe right 8.8s, afterwards Walk in a boxing stance forward, afterwards Move and point forward with a directing hand, afterwards The robot crouch-walks sideways to the right low to the ground."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Walk carefully to the right for 8.8 seconds.",
+        "Move with caution right carefully for about 8.8 seconds.",
+        "The robot steps deliberately sideways to the right with deliberate steps for 8.8 seconds.",
+        "careful strafe right 8.8s",
+        "Walk carefully to the right.",
+        "Move with caution right carefully.",
+        "The robot steps deliberately sideways to the right with deliberate steps.",
+        "careful strafe right"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Walk in a boxing stance straight for 5.8 seconds.",
+        "Advance while boxing ahead aggressively for about 5.8 seconds.",
+        "The robot walks in a boxing stance in the forward direction steadily for 5.8 seconds.",
+        "walk boxing forward 5.8s",
+        "Walk in a boxing stance straight.",
+        "Advance while boxing ahead aggressively.",
+        "The robot walks in a boxing stance in the forward direction steadily.",
+        "walk boxing forward"
+      ]
+    },
+    {
+      "segment_idx": 2,
+      "annotations": [
+        "Stride while gesturing in the forward direction for 2.5 seconds.",
+        "Move and point straight with a directing hand for about 2.5 seconds.",
+        "The robot strides while gesturing forward while gesturing for 2.5 seconds.",
+        "point forward 2.5s",
+        "Stride while gesturing in the forward direction.",
+        "Move and point straight with a directing hand.",
+        "The robot strides while gesturing forward while gesturing.",
+        "point forward"
+      ]
+    },
+    {
+      "segment_idx": 3,
+      "annotations": [
+        "Crouch-walk to the right for 2.3 seconds.",
+        "Walk in a low crouch right in a crouched posture for about 2.3 seconds.",
+        "The robot crouch-walks sideways to the right low to the ground for 2.3 seconds.",
+        "crouch strafe right 2.3s",
+        "Crouch-walk to the right.",
+        "Walk in a low crouch right in a crouched posture.",
+        "The robot crouch-walks sideways to the right low to the ground.",
+        "crouch strafe right"
+      ]
+    }
+  ]
+}

motion/00583_happy_dance_object_carrying_backward_walk_turnr90/annotation.json

@@ -0,0 +1,108 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "happy_dance_object_carrying_backward_walk_turnr90",
+  "total_duration_sec": 19.74,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 7.27,
+      "frame_start": 0,
+      "frame_end": 364,
+      "mode": "happy_dance",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 7.27,
+      "speed": -1.0
+    },
+    {
+      "idx": 1,
+      "t_start": 7.27,
+      "t_end": 10.4,
+      "frame_start": 364,
+      "frame_end": 520,
+      "mode": "object_carrying",
+      "movement": "backward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 3.13,
+      "speed": -1.0
+    },
+    {
+      "idx": 2,
+      "t_start": 10.4,
+      "t_end": 19.74,
+      "frame_start": 520,
+      "frame_end": 987,
+      "mode": "walk",
+      "movement": "forward",
+      "turn_deg": 90.0,
+      "turn_dir": "right",
+      "duration_sec": 9.34,
+      "speed": 1.113
+    }
+  ],
+  "full_trajectory": [
+    "The robot dances happily forward for 7.3 seconds, then walks while carrying an object backward for 3.1 seconds, and finally turns right 90 degrees while walking for 9.3 seconds.",
+    "The person dances happily forward for 7.3 seconds, then walks while carrying an object backward for 3.1 seconds, and finally turns right 90 degrees while walking for 9.3 seconds.",
+    "Dances happily forward for 7.3 seconds, then walks while carrying an object backward for 3.1 seconds, and finally turns right 90 degrees while walking for 9.3 seconds.",
+    "The robot dances happily forward, then walks while carrying an object backward, and finally turns right 90 degrees while walking.",
+    "The person dances happily forward, then walks while carrying an object backward, and finally turns right 90 degrees while walking.",
+    "Dances happily forward, then walks while carrying an object backward, and finally turns right 90 degrees while walking.",
+    "Dance happily ahead for 7.3 seconds, then Carry an object back for 3.1 seconds, then Turn right 90 degrees while striding over 9.3s.",
+    "Dance happily ahead energetically for about 7.3 seconds, followed by Carry an object back with both hands for about 3.1 seconds, followed by Pivot right (a quarter right turn (~90\u00b0)) while striding over 9.3s.",
+    "The robot dances joyfully forward energetically for 7.3 seconds, after which The robot moves with a load backward with both hands for 3.1 seconds, after which The robot pivots right (a quarter right turn (~90\u00b0)) while marching for 9.3s.",
+    "happy dance forward 7.3s; object carrying backward 3.1s; walk + turn right 90\u00b0 9.3s",
+    "Perform a happy dance ahead, and then Walk while carrying back, and then Swing right 90 degrees while striding.",
+    "Perform a happy dance ahead joyfully, afterwards Walk while carrying back balancing carefully, afterwards Veer right (a quarter right turn (~90\u00b0)) while striding.",
+    "The robot dances happily forward joyfully, before The robot carries an object backward balancing carefully, before The robot pivots right (a quarter right turn (~90\u00b0)) while marching.",
+    "happy dance forward; object carrying backward; walk + turn right 90\u00b0",
+    "Dance happily straight energetically for about 7.3 seconds, next The robot moves with a load back with both hands for 3.1 seconds, next walk + turn right 90\u00b0 9.3s.",
+    "The robot dances joyfully straight energetically for 7.3 seconds, and then object carrying backward 3.1s, and then Veer right 90 degrees while moving briskly.",
+    "happy dance forward 7.3s, afterwards Walk while carrying backward, afterwards Swing right (a quarter right turn (~90\u00b0)) while walking."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Dance happily ahead for 7.3 seconds.",
+        "Dance joyfully forward with enthusiasm for about 7.3 seconds.",
+        "The robot dances happily straight joyfully for 7.3 seconds.",
+        "happy dance forward 7.3s",
+        "Dance happily ahead.",
+        "Dance joyfully forward with enthusiasm.",
+        "The robot dances happily straight joyfully.",
+        "happy dance forward"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Walk while carrying in reverse for 3.1 seconds.",
+        "Carry an object back with both hands for about 3.1 seconds.",
+        "The robot walks while carrying rearward steadily for 3.1 seconds.",
+        "object carrying backward 3.1s",
+        "Walk while carrying in reverse.",
+        "Carry an object back with both hands.",
+        "The robot walks while carrying rearward steadily.",
+        "object carrying backward"
+      ]
+    },
+    {
+      "segment_idx": 2,
+      "annotations": [
+        "Veer right 90 degrees while moving briskly over 9.3s.",
+        "Swing right (a quarter right turn (~90\u00b0)) while marching over 9.3s.",
+        "The robot pivots right (a quarter right turn (~90\u00b0)) while marching for 9.3s.",
+        "walk + turn right 90\u00b0 9.3s",
+        "Veer right 90 degrees while moving briskly.",
+        "Swing right (a quarter right turn (~90\u00b0)) while marching.",
+        "The robot pivots right (a quarter right turn (~90\u00b0)) while marching.",
+        "walk + turn right 90\u00b0"
+      ]
+    }
+  ]
+}

motion/00586_scared_backward_squat/annotation.json

@@ -0,0 +1,82 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "scared_backward_squat",
+  "total_duration_sec": 13.03,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 9.39,
+      "frame_start": 0,
+      "frame_end": 470,
+      "mode": "scared",
+      "movement": "backward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 9.39,
+      "speed": -1.0
+    },
+    {
+      "idx": 1,
+      "t_start": 9.39,
+      "t_end": 13.03,
+      "frame_start": 470,
+      "frame_end": 652,
+      "mode": "squat",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 3.64,
+      "speed": -1.0
+    }
+  ],
+  "full_trajectory": [
+    "The robot scurries backward for 9.4 seconds, and finally squat-walks forward for 3.6 seconds.",
+    "The person scurries backward for 9.4 seconds, and finally squat-walks forward for 3.6 seconds.",
+    "Scurries backward for 9.4 seconds, and finally squat-walks forward for 3.6 seconds.",
+    "The robot scurries backward, and finally squat-walks forward.",
+    "The person scurries backward, and finally squat-walks forward.",
+    "Scurries backward, and finally squat-walks forward.",
+    "Scurry away back for 9.4 seconds, then Squat-walk ahead for 3.6 seconds.",
+    "Move in a panic back with urgency for about 9.4 seconds, followed by Duck-walk ahead in a low crouch for about 3.6 seconds.",
+    "The robot moves fearfully backward with urgency for 9.4 seconds, after which The robot moves in a low squat forward in a low crouch for 3.6 seconds.",
+    "scared backward 9.4s; squat forward 3.6s",
+    "Scurry away back, and then Squat-walk ahead.",
+    "Move in a panic back in a panic, afterwards Duck-walk ahead in a low crouch.",
+    "The robot moves fearfully backward in a panic, before The robot moves in a low squat forward in a low crouch.",
+    "scared backward; squat forward",
+    "Scurry away in reverse with urgency for about 9.4 seconds, next The robot crouch-walks ahead close to the ground for 3.6 seconds.",
+    "The robot moves in a panic in reverse with urgency for 9.4 seconds, and then squat forward 3.6s.",
+    "scared backward 9.4s, afterwards Duck-walk forward."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Scurry away back for 9.4 seconds.",
+        "Flee backward frantically for about 9.4 seconds.",
+        "The robot moves in a panic in reverse in a panic for 9.4 seconds.",
+        "scared backward 9.4s",
+        "Scurry away back.",
+        "Flee backward frantically.",
+        "The robot moves in a panic in reverse in a panic.",
+        "scared backward"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Move in a low squat straight for 3.6 seconds.",
+        "Duck-walk ahead in a low crouch for about 3.6 seconds.",
+        "The robot squat-walks in the forward direction close to the ground for 3.6 seconds.",
+        "squat forward 3.6s",
+        "Move in a low squat straight.",
+        "Duck-walk ahead in a low crouch.",
+        "The robot squat-walks in the forward direction close to the ground.",
+        "squat forward"
+      ]
+    }
+  ]
+}

motion/00607_zombie_right_hook/annotation.json

@@ -0,0 +1,82 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "zombie_right_hook",
+  "total_duration_sec": 14.15,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 5.35,
+      "frame_start": 0,
+      "frame_end": 268,
+      "mode": "zombie",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 5.35,
+      "speed": -1.0
+    },
+    {
+      "idx": 1,
+      "t_start": 5.35,
+      "t_end": 14.15,
+      "frame_start": 268,
+      "frame_end": 708,
+      "mode": "right_hook",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 8.8,
+      "speed": -1.0
+    }
+  ],
+  "full_trajectory": [
+    "The robot shambles forward for 5.3 seconds, and finally throws a right hook forward for 8.8 seconds.",
+    "The person shambles forward for 5.3 seconds, and finally throws a right hook forward for 8.8 seconds.",
+    "Shambles forward for 5.3 seconds, and finally throws a right hook forward for 8.8 seconds.",
+    "The robot shambles forward, and finally throws a right hook forward.",
+    "The person shambles forward, and finally throws a right hook forward.",
+    "Shambles forward, and finally throws a right hook forward.",
+    "Shamble ahead for 5.3 seconds, then Throw a right hook ahead for 8.8 seconds.",
+    "Lurch forward ahead with arms outstretched for about 5.3 seconds, followed by Throw a right hook ahead with full force for about 8.8 seconds.",
+    "The robot zombie-walks forward with arms outstretched for 5.3 seconds, after which The robot executes a right hook forward with full force for 8.8 seconds.",
+    "zombie forward 5.3s; right hook forward 8.8s",
+    "Shamble ahead, and then Hook with the right ahead.",
+    "Lurch forward ahead mindlessly, afterwards Hook with the right ahead with control.",
+    "The robot zombie-walks forward mindlessly, before The robot throws a right hook forward with control.",
+    "zombie forward; right hook forward",
+    "Shamble straight with arms outstretched for about 5.3 seconds, next The robot executes a right hook ahead with full force for 8.8 seconds.",
+    "The robot lurches forward straight with arms outstretched for 5.3 seconds, and then right hook forward 8.8s.",
+    "zombie forward 5.3s, afterwards Hook with the right forward."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Shamble ahead for 5.3 seconds.",
+        "Shuffle zombie-like forward lifelessly for about 5.3 seconds.",
+        "The robot lurches forward straight mindlessly for 5.3 seconds.",
+        "zombie forward 5.3s",
+        "Shamble ahead.",
+        "Shuffle zombie-like forward lifelessly.",
+        "The robot lurches forward straight mindlessly.",
+        "zombie forward"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Hook with the right straight for 8.8 seconds.",
+        "Throw a right hook ahead with full force for about 8.8 seconds.",
+        "The robot hooks with the right in the forward direction powerfully for 8.8 seconds.",
+        "right hook forward 8.8s",
+        "Hook with the right straight.",
+        "Throw a right hook ahead with full force.",
+        "The robot hooks with the right in the forward direction powerfully.",
+        "right hook forward"
+      ]
+    }
+  ]
+}

motion/00609_scared_backward_zombie_turnr60/annotation.json

@@ -0,0 +1,82 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "scared_backward_zombie_turnr60",
+  "total_duration_sec": 9.87,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 4.66,
+      "frame_start": 0,
+      "frame_end": 233,
+      "mode": "scared",
+      "movement": "backward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 4.66,
+      "speed": -1.0
+    },
+    {
+      "idx": 1,
+      "t_start": 4.66,
+      "t_end": 9.87,
+      "frame_start": 233,
+      "frame_end": 494,
+      "mode": "zombie",
+      "movement": "forward",
+      "turn_deg": 60.0,
+      "turn_dir": "right",
+      "duration_sec": 5.21,
+      "speed": -1.0
+    }
+  ],
+  "full_trajectory": [
+    "The robot scurries backward for 4.7 seconds, and finally turns right 60 degrees while shambling for 5.2 seconds.",
+    "The person scurries backward for 4.7 seconds, and finally turns right 60 degrees while shambling for 5.2 seconds.",
+    "Scurries backward for 4.7 seconds, and finally turns right 60 degrees while shambling for 5.2 seconds.",
+    "The robot scurries backward, and finally turns right 60 degrees while shambling.",
+    "The person scurries backward, and finally turns right 60 degrees while shambling.",
+    "Scurries backward, and finally turns right 60 degrees while shambling.",
+    "Scurry away back for 4.7 seconds, then Turn right 60 degrees while zombie-walking over 5.2s.",
+    "Move in a panic back with urgency for about 4.7 seconds, followed by Pivot right (a quarter right turn (~90\u00b0)) while zombie-walking over 5.2s.",
+    "The robot moves fearfully backward with urgency for 4.7 seconds, after which The robot pivots right (a quarter right turn (~90\u00b0)) while shuffling zombie-like for 5.2s.",
+    "scared backward 4.7s; zombie + turn right 60\u00b0 5.2s",
+    "Scurry away back, and then Swing right 60 degrees while zombie-walking.",
+    "Move in a panic back in a panic, afterwards Veer right (a quarter right turn (~90\u00b0)) while zombie-walking.",
+    "The robot moves fearfully backward in a panic, before The robot pivots right (a quarter right turn (~90\u00b0)) while shuffling zombie-like.",
+    "scared backward; zombie + turn right 60\u00b0",
+    "Scurry away in reverse with urgency for about 4.7 seconds, next The robot turns right (a quarter right turn (~90\u00b0)) while lurching forward for 5.2s.",
+    "The robot moves in a panic in reverse with urgency for 4.7 seconds, and then zombie + turn right 60\u00b0 5.2s.",
+    "scared backward 4.7s, afterwards Rotate right 60 degrees while shambling."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Scurry away back for 4.7 seconds.",
+        "Flee backward frantically for about 4.7 seconds.",
+        "The robot moves in a panic in reverse in a panic for 4.7 seconds.",
+        "scared backward 4.7s",
+        "Scurry away back.",
+        "Flee backward frantically.",
+        "The robot moves in a panic in reverse in a panic.",
+        "scared backward"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Rotate right 60 degrees while shuffling zombie-like over 5.2s.",
+        "Pivot right (a quarter right turn (~90\u00b0)) while zombie-walking over 5.2s.",
+        "The robot veers right (a quarter right turn (~90\u00b0)) while zombie-walking for 5.2s.",
+        "zombie + turn right 60\u00b0 5.2s",
+        "Rotate right 60 degrees while shuffling zombie-like.",
+        "Pivot right (a quarter right turn (~90\u00b0)) while zombie-walking.",
+        "The robot veers right (a quarter right turn (~90\u00b0)) while zombie-walking.",
+        "zombie + turn right 60\u00b0"
+      ]
+    }
+  ]
+}

motion/00659_walk_squat/annotation.json

@@ -0,0 +1,82 @@
+{
+  "schema_version": "1.0",
+  "recipe_name": "walk_squat",
+  "total_duration_sec": 19.22,
+  "data_fps": 50,
+  "trajectory_file": "trajectory_dynamic.csv",
+  "segments": [
+    {
+      "idx": 0,
+      "t_start": 0.0,
+      "t_end": 9.53,
+      "frame_start": 0,
+      "frame_end": 476,
+      "mode": "walk",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 9.53,
+      "speed": -1.0
+    },
+    {
+      "idx": 1,
+      "t_start": 9.53,
+      "t_end": 19.22,
+      "frame_start": 476,
+      "frame_end": 961,
+      "mode": "squat",
+      "movement": "forward",
+      "turn_deg": null,
+      "turn_dir": null,
+      "duration_sec": 9.69,
+      "speed": -1.0
+    }
+  ],
+  "full_trajectory": [
+    "The robot walks forward for 9.5 seconds, and finally squat-walks forward for 9.7 seconds.",
+    "The person walks forward for 9.5 seconds, and finally squat-walks forward for 9.7 seconds.",
+    "Walks forward for 9.5 seconds, and finally squat-walks forward for 9.7 seconds.",
+    "The robot walks forward, and finally squat-walks forward.",
+    "The person walks forward, and finally squat-walks forward.",
+    "Walks forward, and finally squat-walks forward.",
+    "Walk ahead for 9.5 seconds, then Squat-walk ahead for 9.7 seconds.",
+    "Move briskly ahead for about 9.5 seconds, followed by Duck-walk ahead in a low crouch for about 9.7 seconds.",
+    "The robot strides forward briskly for 9.5 seconds, after which The robot moves in a low squat forward in a low crouch for 9.7 seconds.",
+    "walk forward 9.5s; squat forward 9.7s",
+    "Walk ahead, and then Squat-walk ahead.",
+    "Move briskly ahead, afterwards Duck-walk ahead in a low crouch.",
+    "The robot strides forward at walking pace, before The robot moves in a low squat forward in a low crouch.",
+    "walk forward; squat forward",
+    "Walk straight briskly for about 9.5 seconds, next The robot crouch-walks ahead close to the ground for 9.7 seconds.",
+    "The robot moves briskly straight for 9.5 seconds, and then squat forward 9.7s.",
+    "walk forward 9.5s, afterwards Duck-walk forward."
+  ],
+  "per_segment": [
+    {
+      "segment_idx": 0,
+      "annotations": [
+        "Walk ahead for 9.5 seconds.",
+        "March forward steadily for about 9.5 seconds.",
+        "The robot moves briskly straight for 9.5 seconds.",
+        "walk forward 9.5s",
+        "Walk ahead.",
+        "March forward steadily.",
+        "The robot moves briskly straight.",
+        "walk forward"
+      ]
+    },
+    {
+      "segment_idx": 1,
+      "annotations": [
+        "Move in a low squat straight for 9.7 seconds.",
+        "Duck-walk ahead in a low crouch for about 9.7 seconds.",
+        "The robot squat-walks in the forward direction close to the ground for 9.7 seconds.",
+        "squat forward 9.7s",
+        "Move in a low squat straight.",
+        "Duck-walk ahead in a low crouch.",
+        "The robot squat-walks in the forward direction close to the ground.",
+        "squat forward"
+      ]
+    }
+  ]
+}